Nowadays, the frequency of fires is increasing due to climate change. Effective forest management is vital in mitigating the intensity and spread of this natural disaster. Currently, the task of forest cleaning is carried out by tractors equipped with forestry mulchers, which are operated remotely using joysticks. This thesis is part of a project to automate the cleaning process using a fully sensor-equipped electronic box. Specifically, it addresses the crucial aspect of precise line following, which is essential for efficient cleaning operations. The unmanned ground vehicle (UGV) under study consists of two main components. The vehicle part comprises the tractor LV 600 Pro, which is responsible for the vehicle's movement.